CN206663254U - Switching mechanism for truss manipulator - Google Patents
Switching mechanism for truss manipulator Download PDFInfo
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- CN206663254U CN206663254U CN201720506227.2U CN201720506227U CN206663254U CN 206663254 U CN206663254 U CN 206663254U CN 201720506227 U CN201720506227 U CN 201720506227U CN 206663254 U CN206663254 U CN 206663254U
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- clamping jaw
- truss manipulator
- cylinder
- rack
- switching mechanism
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Abstract
The utility model discloses a kind of switching mechanism for truss manipulator, it is installed on truss manipulator Z axis lower end and fetches and delivers material position, truss manipulator includes clamping jaw device, the clamping jaw device includes the first clamping jaw, the first clamping jaw cylinder of driving the first clamping jaw action, the second clamping jaw, the second clamping jaw cylinder of driving the second clamping jaw action, the switching mechanism for being used for truss manipulator includes along rack, the drive cylinder that driving rack moves, the gear being meshed with rack and the coaxially connected rotary shaft of gear, the clamping jaw device that its length direction is moved with rotary shaft to be connected.This is used for the switching mechanism of truss manipulator, and its stability is more preferable, and precision is higher, and the kind of drive of gear, rack engagement, its stroke can better control over the anglec of rotation of clamping jaw device.
Description
Technical field
It the utility model is related to a kind of switching mechanism for truss manipulator.
Background technology
Truss manipulator includes clamping jaw device, and the clamping jaw device includes the first clamping jaw, the first of driving the first clamping jaw action
Clamping jaw cylinder, the second clamping jaw, the second clamping jaw cylinder of driving the second clamping jaw action, the clamping jaw device are located at truss manipulator Z axis
Material position is fetched and delivered in lower end, and the first clamping jaw and the second clamping jaw are used to capture material or product.Truss manipulator at work, clamping jaw device
Need to overturn, to realize the evolution of the first clamping jaw and the second clamping jaw, so that grabbing the more efficient of feeding.And prior art
In, the upset of clamping jaw device drives rotation by rotary cylinder, and shortcoming is that stability is poor, precision is not high.
Utility model content
In order to solve the problems of the prior art, the purpose of this utility model is to provide a kind of turning over for truss manipulator
Rotation mechanism, 90 ° of upsets between two clamping jaw cylinders can be realized.
In order to achieve the above object, the utility model provides a kind of switching mechanism for truss manipulator, is installed on
Material position is fetched and delivered in truss manipulator Z axis lower end, and truss manipulator includes clamping jaw device, and the clamping jaw device includes the first clamping jaw, driving
The first clamping jaw cylinder, the second clamping jaw, the second clamping jaw cylinder of driving the second clamping jaw action of first clamping jaw action, this is used for truss
The switching mechanism of manipulator includes can be along the rack that its length direction is moved, the drive cylinder and rack that drive rack to move
The gear and the coaxially connected rotary shaft of gear being meshed, clamping jaw device are connected with rotary shaft.
Further, rack has at least two operating positions, when it is in the first operating position, the first clamping jaw cylinder
In location A, the second clamping jaw cylinder is in B location, and when rack is in the second operating position, the first clamping jaw cylinder is overturn to B
Position, the second clamping jaw cylinder are overturn to location A.
Further, the piston moving direction angle of the piston moving direction of the first clamping jaw cylinder and the second clamping jaw cylinder
For 90 °.
Further, the switching mechanism for truss manipulator also includes shell, and rack, gear are arranged in shell.
By adopting the above-described technical solution, the utility model is used for the switching mechanism of truss manipulator, driven using cylinder
Carry-over bar moves, and the rotation of clamping jaw device is realized by the kind of drive of gear, rack engagement, compared to straight in the prior art
Connecing using rotary cylinder driving rotation, this is used for the switching mechanism of truss manipulator, and its stability is more preferable, and precision is higher, and
Gear, the kind of drive of rack engagement, its stroke can better control over the anglec of rotation of clamping jaw device.
Brief description of the drawings
Accompanying drawing 1 is the structural representation for the switching mechanism for being used for truss manipulator in the utility model.
In figure marked as：
1st, the first clamping jaw；2nd, the first clamping jaw cylinder；3rd, the second clamping jaw；4th, the second clamping jaw cylinder；5th, drive cylinder；6th, tooth
Bar；7th, rotary shaft；8th, shell.
Embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature.
Referring to accompanying drawing 1, the switching mechanism for truss manipulator in the present embodiment, it is installed under truss manipulator Z axis
Fetch and deliver material position in end.Truss manipulator includes clamping jaw device, and the clamping jaw device includes the first clamping jaw 1, the first clamping jaw 1 of driving acts
First clamping jaw cylinder 2, the second clamping jaw 3, the second clamping jaw cylinder 4 of driving the second clamping jaw 3 action.In the present embodiment, the first clamping jaw
The piston moving direction angle of the piston moving direction of cylinder 2 and the second clamping jaw cylinder 4 is 90 °.
This switching mechanism for being used for truss manipulator includes to move along rack 6 that its length direction is moved, driving rack 6
Dynamic drive cylinder 5, the gear being meshed with rack 6（Do not shown in accompanying drawing）And the coaxially connected rotary shaft 7 of gear, folder
Jaw arrangement is connected with rotary shaft 7.
Rack 6 has at least two operating positions, and when it is in the first operating position, the first clamping jaw cylinder 2 is in A positions
To put, the second clamping jaw cylinder 4 is in B location, and when rack 6 is in the second operating position, the first clamping jaw cylinder 2 is overturn to B location,
Second clamping jaw cylinder 4 is overturn to location A.
In the present embodiment as shown in Figure 1, the switching mechanism for truss manipulator also includes shell 8, above-mentioned tooth
Bar 6, gear are arranged in shell 8.
This is used for the switching mechanism of truss manipulator, using cylinder driving rack movement, the biography engaged by gear, rack
Flowing mode realizes the rotation of clamping jaw device, compared to directly using rotary cylinder driving rotation, this is used for purlin in the prior art
The switching mechanism of frame manipulator, its stability is more preferable, and precision is higher, and the kind of drive of gear, rack engagement, its stroke energy
Enough better control over the anglec of rotation of clamping jaw device.This is used for the switching mechanism of truss manipulator, compact-sized, reasonable in design,
Securely and reliably.
The utility model is elaborated above in association with embodiment, is only to illustrate technical concept of the present utility model
And feature, can not be with this its object is to allow person skilled in the art to understand content of the present utility model and be carried out
The scope of protection of the utility model is limited, all equivalent change or modifications done according to the utility model Spirit Essence, should all be contained
Cover in the scope of protection of the utility model.
Claims (4)
1. a kind of switching mechanism for truss manipulator, it is installed on truss manipulator Z axis lower end and fetches and delivers material position, described truss
Manipulator includes clamping jaw device, and the clamping jaw device includes the first clamping jaw（1）, driving first clamping jaw（1）First folder of action
Pawl cylinder（2）, the second clamping jaw（3）, driving second clamping jaw（3）Second clamping jaw cylinder of action（4）, it is characterised in that：Should
Switching mechanism for truss manipulator includes the rack that can be moved along its length direction（6）, the driving rack（6）It is mobile
Drive cylinder（5）And the rack（6）The gear and the coaxially connected rotary shaft of the gear being meshed（7）, it is described
Clamping jaw device and the rotary shaft（7）It is connected.
2. the switching mechanism according to claim 1 for truss manipulator, it is characterised in that：Described rack（6）Tool
There are at least two operating positions, when it is in the first operating position, the first described clamping jaw cylinder（2）It is described in location A
The second clamping jaw cylinder（4）In B location, when described rack（6）During in the second operating position, the first described clamping jaw gas
Cylinder（2）Overturn to B location, the second described clamping jaw cylinder（4）Overturn to location A.
3. the switching mechanism according to claim 2 for truss manipulator, it is characterised in that：The first described clamping jaw gas
Cylinder（2）Piston moving direction and the second clamping jaw cylinder（4）Piston moving direction angle be 90 °.
4. the switching mechanism according to claim 1 for truss manipulator, it is characterised in that：Also include shell（8）, institute
The rack stated（6）, gear be arranged on the shell（8）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720506227.2U CN206663254U (en) | 2017-05-09 | 2017-05-09 | Switching mechanism for truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720506227.2U CN206663254U (en) | 2017-05-09 | 2017-05-09 | Switching mechanism for truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206663254U true CN206663254U (en) | 2017-11-24 |
Family
ID=60371874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720506227.2U Active CN206663254U (en) | 2017-05-09 | 2017-05-09 | Switching mechanism for truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206663254U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393875A (en) * | 2018-05-24 | 2018-08-14 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN109436793A (en) * | 2018-11-26 | 2019-03-08 | 广州市轻工高级技工学校 | A kind of material carrying truss |
| CN109624266A (en) * | 2019-01-14 | 2019-04-16 | 张家港市意久机械有限公司 | Storing type blow molding machine robot device |
| CN110745570A (en) * | 2019-11-18 | 2020-02-04 | 湖南众之强建筑材料有限公司 | Steel bar truss stacking device |
| CN112894813A (en) * | 2021-01-22 | 2021-06-04 | 长沙智能制造研究总院有限公司 | Visual servo mechanical equipment |
-
2017
- 2017-05-09 CN CN201720506227.2U patent/CN206663254U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393875A (en) * | 2018-05-24 | 2018-08-14 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN109436793A (en) * | 2018-11-26 | 2019-03-08 | 广州市轻工高级技工学校 | A kind of material carrying truss |
| CN109624266A (en) * | 2019-01-14 | 2019-04-16 | 张家港市意久机械有限公司 | Storing type blow molding machine robot device |
| CN110745570A (en) * | 2019-11-18 | 2020-02-04 | 湖南众之强建筑材料有限公司 | Steel bar truss stacking device |
| CN110745570B (en) * | 2019-11-18 | 2024-03-19 | 湖南众之强建筑材料有限公司 | Three-dimensional triangular steel bar truss stacking device |
| CN112894813A (en) * | 2021-01-22 | 2021-06-04 | 长沙智能制造研究总院有限公司 | Visual servo mechanical equipment |
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